CN210478873U - Twelve-degree-of-freedom bionic quadruped robot - Google Patents
Twelve-degree-of-freedom bionic quadruped robot Download PDFInfo
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- CN210478873U CN210478873U CN201921433600.1U CN201921433600U CN210478873U CN 210478873 U CN210478873 U CN 210478873U CN 201921433600 U CN201921433600 U CN 201921433600U CN 210478873 U CN210478873 U CN 210478873U
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Abstract
The utility model provides a twelve-degree-of-freedom bionic quadruped robot, which comprises a robot body and four-limb structures arranged at the two sides of the front part and the rear part of the robot body, wherein the robot body is provided with a driving device which is positioned at four corners and used for driving the swing of each four-limb structure, the driving device comprises a lateral rotating motor, the output shaft of the lateral rotating motor is fixedly connected with a vertical swinging motor, the output shaft of the vertical swinging motor is fixedly connected with a leg swinging motor, the four-limb structure comprises a thigh component and a shank component, the upper end of the shank component is hinged with the lower end of the thigh component through a through rotating shaft, the upper end of the shank component is fixed with a driven belt wheel sleeved on the rotating shaft, the output end of the leg swinging motor is fixed with a driving belt wheel, and the driving belt wheel and the driven, low cost, can complete a series of actions by imitating organisms and has wide adaptability of tasks.
Description
Technical Field
The utility model relates to a twelve-degree-of-freedom bionic quadruped robot.
Background
The research and manufacturing level of robots has become a sign of the combined strength of the academic level and the science and technology of the country and the region. The robot has wide market prospect in many aspects such as military combat, rescue and relief work, family life and the like, so that the research of the robot becomes the first choice research object of many scientific research teams at home and abroad. The quadruped walking robot has strong environment adaptability under the condition of complex and unknown ground, can complete tasks only by requiring at most four supporting points, and is developing towards miniaturization, intellectualization and the like.
SUMMERY OF THE UTILITY MODEL
The utility model discloses improve above-mentioned problem, promptly the to-be-solved technical problem of the utility model is that need design the robot structure that can adapt to complex environment under the current robot applied scene.
The utility model discloses a concrete implementation scheme is: a twelve-degree-of-freedom bionic quadruped robot comprises a robot body and four-limb structures arranged on two sides of the front portion and the rear portion of the robot body, wherein a driving device which is positioned at four corners and used for driving the four-limb structures to swing is arranged on the robot body, the driving device comprises a lateral rotating motor fixed on the robot body, an output shaft of the lateral rotating motor is fixedly connected with a vertical swinging motor, an output shaft of the vertical swinging motor is perpendicular to an output shaft of the lateral rotating motor and is fixedly connected with a leg swinging motor, the four-limb structure comprises a thigh member and a shank member which are fixedly connected with the leg swinging motor, the upper end of the shank member and the lower end of the thigh member are hinged through a penetrating rotating shaft, a driven belt pulley sleeved on the rotating shaft is fixed at the upper end of the shank member, and a driving belt pulley is fixed at the, and a transmission belt is sleeved outside the driving belt pulley and the driven belt pulley so as to drive the shank component to swing around the hinged part of the shank component by utilizing the leg swinging motor.
Further, the robot body includes the shell body, both ends are fixed with the connection pad around the shell body, the side direction rotates the outside that the motor is fixed in the connection pad, the outside that the motor was rotated to the side direction still is fixed with interior side shield.
Furthermore, the vertical swing motor is fixedly connected with the output end of the lateral rotation motor through the first connecting frame, the outer side end of the vertical swing motor is fixedly connected with the second connecting frame, and the outer side baffle is fixedly connected to the outer side of the second connecting frame.
Furthermore, the outer side baffle and the inner side baffle at the two ends of the robot body are penetrated by connecting rods fixedly connected with the outer side baffle and the inner side baffle.
Further, a spherical foot member is fixed to a lower portion of the lower leg member.
Compared with the prior art, the utility model discloses following beneficial effect has: the utility model discloses simple structure, it is convenient to make, and is with low costs, can imitate living beings and accomplish a series of actions and task adaptability wide.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic diagram of the structure of the robot body of the present invention.
Fig. 3 is a partial schematic view of the four-limb structure of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 3, a twelve-degree-of-freedom bionic quadruped robot comprises a robot body 10 and four-limb structures arranged at two sides of the front part and the rear part of the robot body, wherein the robot body is provided with driving devices positioned at four corners and used for driving the four-limb structures to swing, each driving device comprises a lateral rotating motor 210 fixed on the robot body, an output shaft of each lateral rotating motor is fixedly connected with a vertical swinging motor 220, an output shaft of each vertical swinging motor is perpendicular to an output shaft of each lateral rotating motor and is fixedly connected with a leg swinging motor 230, each four-limb structure comprises a thigh member 310 and a shank member 320, the upper ends of the shank members 320 and the lower ends of the thigh members 310 are hinged through a penetrating rotating shaft, and the upper ends of the shank members are fixed with driven belt pulleys 330 sleeved on the rotating shaft, the output end of the leg swing motor is fixed with a driving belt pulley, and the driving belt pulley and the driven belt pulley are externally sleeved with a driving belt 340 so as to drive the shank component to swing around the hinged part of the shank component by using the leg swing motor.
In this implementation, the robot body includes shell body 110, and shell body 110 design is the symmetry design, and shell body 110 cavity is in order to put into the power or the control circuit who is used for controlling each motor, both ends are fixed with connection pad 120 around shell body 110, the side direction is rotated the motor and is fixed in the outside of connection pad, the outside of side direction is rotated the motor and is still fixed with inboard baffle 410.
The vertical swing motor 220 is fixedly connected with the output end of the lateral rotation motor 210 through a first connecting frame 510, the outer side end of the vertical swing motor 220 is fixedly connected with a second connecting frame 520, and the outer side of the second connecting frame 520 is fixedly connected with an outer side baffle 420.
The outer baffle 420 and the inner baffle 410 at both ends of the robot body are penetrated with a connecting rod 430 fixedly connected with the outer baffle and the inner baffle.
In this embodiment, a ball-shaped foot member 350 is fixed to the lower portion of the lower leg member.
In this embodiment, the outer side barrier 420 and the inner side barrier 410 at the two ends of the robot body are connected by a plurality of connecting rods 430 located on the periphery of the robot body, so that the four-limb structure part and the whole robot are connected with better rigidity, and the rigidity of the whole four-foot robot is increased by the outer side barrier 420, the inner side barrier 410 and the connecting rods.
When the mechanical leg walks, the lateral rotating motor 210 is utilized to drive the vertical swinging motor 220, the leg swinging motor 230 and the four-limb structure to swing towards the inner side and the outer side of the robot body integrally, the vertical swinging motor is utilized to realize the front-back swinging of the plane where the leg swinging motor and the four-limb structure are located, so that the vertical swinging motor 220 and the leg swinging motor 230 control two degrees of freedom of the knee joint of the mechanical leg, the leg swinging motor 230 is utilized to realize the control and drive of the lower leg component to swing around the hinged part with the upper leg component through belt transmission, thus the mechanical leg formed by the upper end of the lower leg component 320 and the upper leg component 310 has three degrees of freedom, the whole machine has twelve degrees of freedom, and various gaits can be realized smoothly. The whole machine has simple structure, convenient manufacture and low cost, also finishes a series of actions and tasks according to living beings, and is very suitable for the requirements of the mass market.
In the embodiment, the motor drive is adopted on the drive system, is the most selected drive mode in the current robot design, utilizes the motor to generate the torque, and then improves the torque through the speed reducer, and has the advantages of high control precision, low cost, good performance, light weight and the like, so the motor drive system becomes the most widely selected drive mode in the robot drive. In this embodiment, the lateral rotation motor 210 and the leg swing motor 220 are implemented as a permanent magnet synchronous motor designed for a quadruped robot, and an electric motor with high torque mass density is coupled to a low transmission ratio transmission to achieve high torque mass density. The planetary gear reducer is integrated with a motor shell, is compact, has a reduction ratio of 6:1, improves the power performance of the joint, and directly realizes torque control on the joint; the motor end is internally provided with a 15-bit encoder and a driver. The integrated motor specially designed for the quadruped robot integrates the speed reducer, the encoder and the driver, so that the size and the weight of the robot are effectively reduced, the inertia of legs is reduced, and great help is brought to the improvement of the control performance of the quadruped robot.
Any technical solution disclosed in the present invention is, unless otherwise stated, disclosed a numerical range if it is disclosed, and the disclosed numerical range is a preferred numerical range, and any person skilled in the art should understand that: the preferred ranges are merely those values which are obvious or representative of the technical effect which can be achieved. Because numerical value is more, can't be exhaustive, so the utility model discloses just disclose some numerical values with the illustration the technical scheme of the utility model to, the numerical value that the aforesaid was enumerated should not constitute right the utility model discloses create the restriction of protection scope.
If the terms "first," "second," etc. are used herein to define parts, those skilled in the art will recognize that: the terms "first" and "second" are used merely to distinguish one element from another in a descriptive sense and are not intended to have a special meaning unless otherwise stated.
Also, above-mentioned the utility model discloses if disclose or related to mutually fixed connection's spare part or structure, then, except that other the note, fixed connection can understand: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connections (e.g. riveting, welding), but of course, fixed connections to each other may also be replaced by one-piece structures (e.g. manufactured integrally using a casting process) (unless it is obviously impossible to use an integral forming process).
In addition, the terms used in any aspect of the present disclosure as described above to indicate positional relationships or shapes include similar, analogous, or approximate states or shapes unless otherwise stated.
The utility model provides an arbitrary part both can be assembled by a plurality of solitary component parts and form, also can be the solitary part that the integrated into one piece technology was made.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same; although the present invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that: the invention can be modified or equivalent substituted for some technical features; without departing from the spirit of the present invention, it should be understood that the scope of the claims is intended to cover all such modifications and variations.
Claims (5)
1. A bionic quadruped robot with twelve degrees of freedom is characterized by comprising a robot body and four-limb structures arranged on the front portion and the rear portion of the robot body, wherein the robot body is provided with a driving device which is positioned at four corners and used for driving the four-limb structures to swing, the driving device comprises a lateral rotating motor fixed on the robot body, an output shaft of the lateral rotating motor is fixedly connected with a vertical swinging motor, an output shaft of the vertical swinging motor is perpendicular to an output shaft of the lateral rotating motor and is fixedly connected with a leg swinging motor, the four-limb structure comprises a thigh component and a shank component which are fixedly connected with the leg swinging motor, the upper end of the shank component is hinged with the lower end of the thigh component through a penetrating rotating shaft, the upper end of the shank component is fixedly provided with a driven belt pulley sleeved on the rotating shaft, and the output end of the leg swinging motor is fixedly provided with a driving, and a transmission belt is sleeved outside the driving belt pulley and the driven belt pulley so as to drive the shank component to swing around the hinged part of the shank component by utilizing the leg swinging motor.
2. The twelve-degree-of-freedom bionic quadruped robot as claimed in claim 1, wherein the robot body comprises an outer shell, connecting discs are fixed to the front end and the rear end of the outer shell, the lateral rotating motor is fixed to the outer sides of the connecting discs, and an inner side baffle is further fixed to the outer sides of the lateral rotating motor.
3. The twelve-degree-of-freedom bionic quadruped robot as claimed in claim 2, wherein the vertical swing motor is fixedly connected with the output end of the lateral rotation motor through a first connecting frame, a second connecting frame is fixedly connected with the outer side end of the vertical swing motor, and an outer side baffle is fixedly connected with the outer side of the second connecting frame.
4. The twelve-degree-of-freedom bionic quadruped robot as claimed in claim 3, wherein the connecting rods fixedly connected with the outer side baffle and the inner side baffle penetrate through the outer side baffle and the inner side baffle at two ends of the robot body.
5. The twelve-degree-of-freedom biomimetic quadruped robot according to any one of claims 1 to 4, characterized in that a spherical foot member is fixed to the lower part of the lower leg member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921433600.1U CN210478873U (en) | 2019-08-30 | 2019-08-30 | Twelve-degree-of-freedom bionic quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921433600.1U CN210478873U (en) | 2019-08-30 | 2019-08-30 | Twelve-degree-of-freedom bionic quadruped robot |
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| CN210478873U true CN210478873U (en) | 2020-05-08 |
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| CN201921433600.1U Active CN210478873U (en) | 2019-08-30 | 2019-08-30 | Twelve-degree-of-freedom bionic quadruped robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110641571A (en) * | 2019-08-30 | 2020-01-03 | 福州大学 | Twelve-degree-of-freedom bionic quadruped robot and working method thereof |
| CN111516774A (en) * | 2020-05-09 | 2020-08-11 | 北京交通大学 | Novel foot type robot capable of realizing real-time switching through integration of double feet and four feet |
-
2019
- 2019-08-30 CN CN201921433600.1U patent/CN210478873U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110641571A (en) * | 2019-08-30 | 2020-01-03 | 福州大学 | Twelve-degree-of-freedom bionic quadruped robot and working method thereof |
| CN111516774A (en) * | 2020-05-09 | 2020-08-11 | 北京交通大学 | Novel foot type robot capable of realizing real-time switching through integration of double feet and four feet |
| CN111516774B (en) * | 2020-05-09 | 2021-04-30 | 北京交通大学 | But biped four-footed integration real-time switch foot formula robot |
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